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   <div id="projectname">GSoC2011SfM
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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      <li class="navelem"><b>OpencvSfM</b>      </li>
      <li class="navelem"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a>      </li>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<a href="#pro-attribs">Protected Attributes</a>  </div>
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<div class="title">OpencvSfM::PointOfView Class Reference</div>  </div>
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<!-- doxytag: class="OpencvSfM::PointOfView" -->
<p>This class represent the 3D position of the device which take the pictures. The role of the class is to store everything related to the filed of view: picture, 3D position, points, matches and 3D points.  
 <a href="class_opencv_sf_m_1_1_point_of_view.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>&gt;</code></p>

<p><a href="class_opencv_sf_m_1_1_point_of_view-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a296c28b5a2c8412a62ae3a7752a2c850">PointOfView</a> (cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt; device, cv::Mat rotation=cv::Mat::eye(3, 3, CV_64F), cv::Vec3d translation=cv::Vec3d(0.0, 0.0, 0.0))</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a4f84ebb671f2a76c94203120cca7d111">PointOfView</a> (cv::Mat projection_matrix)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#aff68fe7602ebc6effa817860cea983f7">~PointOfView</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#ae5de2e16eac553ea1e1e7501e009bbbd">getIntraParameters</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#aea728bb630de5161ce54f6b5639adbd7">project3DPointsIntoImage</a> (std::vector&lt; <a class="el" href="class_opencv_sf_m_1_1_track_of_points.html">TrackOfPoints</a> &gt; points) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#ae83f148293bc3cb6cb3e52a5bf89d6f3">project3DPointsIntoImage</a> (std::vector&lt; cv::Vec3d &gt; points) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual cv::Vec2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#aefde879830522099935e19c92968f3f0">project3DPointIntoImage</a> (cv::Vec3d point) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a88697becf69e7291d7c08dc3eb5e891e">pointInFrontOfCamera</a> (cv::Vec4d point) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a26848a2211358fb86b69fda1376c78c7">getProjectionMatrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#af13aa49ebfdb95b056b20825b00d3866">getRotationMatrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#ac1214c5bae587207ed0347b364e4d01e">setRotationMatrix</a> (cv::Mat newRot)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a79b41aa3dc0ff0f7f5c0d821a8688f1f">getTranslationVector</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#aa6402d155df7941da9b500d2f174ed1f">setTranslationVector</a> (cv::Mat newVect)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a175d0cafda2105941a61a69dbd2fb538">rotationAroundX</a> (double angle)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a1575b171547fd61b486552c7160c9ef9">rotationAroundY</a> (double angle)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#ab290671dd21f78ae900e8926feb6fe7a">rotationAroundZ</a> (double angle)</td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a5f642f693bbdb642baf1bae2ae63c85e">read</a> (const cv::FileNode &amp;node)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#ab1b105f23162533972b1a88e3b8b0982">write</a> (cv::FileStorage &amp;fs, const <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &amp;points)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4593900dcb330a47fdb5a7a1c4e2ad93"></a><!-- doxytag: member="OpencvSfM::PointOfView::rotation_" ref="a4593900dcb330a47fdb5a7a1c4e2ad93" args="" -->
cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a4593900dcb330a47fdb5a7a1c4e2ad93">rotation_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotation matrix R ( data is stored into projection_matrix_ ) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acd8ff3683942c1a8afed7b4f266eaa20"></a><!-- doxytag: member="OpencvSfM::PointOfView::translation_" ref="acd8ff3683942c1a8afed7b4f266eaa20" args="" -->
cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#acd8ff3683942c1a8afed7b4f266eaa20">translation_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Translation vector t ( Matrix instead of vector because data is stored into projection_matrix_ ) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a920f9386c300582a19e68908654d169c"></a><!-- doxytag: member="OpencvSfM::PointOfView::projection_matrix_" ref="a920f9386c300582a19e68908654d169c" args="" -->
cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a920f9386c300582a19e68908654d169c">projection_matrix_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">redundancy but speed improvement <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a83bfd58fd1074d5950dad2be9630dbf8"></a><!-- doxytag: member="OpencvSfM::PointOfView::device_" ref="a83bfd58fd1074d5950dad2be9630dbf8" args="" -->
cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#a83bfd58fd1074d5950dad2be9630dbf8">device_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">intra parameters and distortion coefs <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac644fc5f92709b33a31ee2370365f104"></a><!-- doxytag: member="OpencvSfM::PointOfView::config_" ref="ac644fc5f92709b33a31ee2370365f104" args="" -->
unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_point_of_view.html#ac644fc5f92709b33a31ee2370365f104">config_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">This attribut is used to know what we should estimate... If equal to 0, nothing should be estimated... <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class represent the 3D position of the device which take the pictures. The role of the class is to store everything related to the filed of view: picture, 3D position, points, matches and 3D points. </p>
<p>We use the so-called pinhole camera model. That is, a scene view is formed by projecting 3D points into the image plane using a perspective transformation. Usual notation says that a point [ u,v ] from an image is related to the point [ X,Y,Z ] using the following notation : </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ s \begin{bmatrix} u \\ v \\ 1 \end{bmatrix} = \begin{bmatrix}f_x &amp; 0 &amp; c_x \\ 0 &amp; f_y &amp; c_y \\ 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_1 \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_2 \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_3 \end{bmatrix} \begin{bmatrix} X \\ Y \\ Z \\ 1 \end{bmatrix} \]" src="form_0.png"/>
</p>
<p>This leads to the following relation between local coordinates and global ones: </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \begin{array}{l} \vspace{10pt} \begin{bmatrix} x \\ y \\ z \end{bmatrix} = R \begin{bmatrix} X \\ Y \\ Z \end{bmatrix} + t \\ x' = x/z \\ y' = y/z \vspace{10pt} \end{array} \]" src="form_1.png"/>
</p>
 
<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00044">44</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a296c28b5a2c8412a62ae3a7752a2c850"></a><!-- doxytag: member="OpencvSfM::PointOfView::PointOfView" ref="a296c28b5a2c8412a62ae3a7752a2c850" args="(cv::Ptr&lt; Camera &gt; device, cv::Mat rotation=cv::Mat::eye(3, 3, CV_64F), cv::Vec3d translation=cv::Vec3d(0.0, 0.0, 0.0))" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">OpencvSfM::PointOfView::PointOfView </td>
          <td>(</td>
          <td class="paramtype">cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt;&#160;</td>
          <td class="paramname"><em>device</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Mat&#160;</td>
          <td class="paramname"><em>rotation</em> = <code>cv::Mat::eye(&#160;3,&#160;3,&#160;CV_64F&#160;)</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::Vec3d&#160;</td>
          <td class="paramname"><em>translation</em> = <code>cv::Vec3d(&#160;0.0,0.0,0.0&#160;)</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>To create a point of view, we need two things : a camera, and a point ( with orientation ). Here we give an address of a <a class="el" href="class_opencv_sf_m_1_1_camera.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ...">Camera</a>, and the file name of the picture. If we have more informations, we can use the last parameters... </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">device</td><td>address of existing <a class="el" href="class_opencv_sf_m_1_1_camera.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ...">Camera</a>. This camera can be calibrated or not... </td></tr>
    <tr><td class="paramname">rotation</td><td>Matrix of the known rotation ( optional )... </td></tr>
    <tr><td class="paramname">translation</td><td>Vector of the known translation ( optional )... </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00034">34</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

<p>Referenced by <a class="el" href="_point_of_view_8cpp_source.html#l00233">read()</a>.</p>

</div>
</div>
<a class="anchor" id="a4f84ebb671f2a76c94203120cca7d111"></a><!-- doxytag: member="OpencvSfM::PointOfView::PointOfView" ref="a4f84ebb671f2a76c94203120cca7d111" args="(cv::Mat projection_matrix)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">OpencvSfM::PointOfView::PointOfView </td>
          <td>(</td>
          <td class="paramtype">cv::Mat&#160;</td>
          <td class="paramname"><em>projection_matrix</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>To create a point of view using a projection matrix. (will create a Pinhole <a class="el" href="class_opencv_sf_m_1_1_camera.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ...">Camera</a> without distortion parameters) We will extract intra, rotation and translation from this projection matrix. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">projection_matrix</td><td>Projection matrix of the camera </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00057">57</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="aff68fe7602ebc6effa817860cea983f7"></a><!-- doxytag: member="OpencvSfM::PointOfView::~PointOfView" ref="aff68fe7602ebc6effa817860cea983f7" args="(void)" -->
<div class="memitem">
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        <tr>
          <td class="memname">OpencvSfM::PointOfView::~PointOfView </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td><code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Destructor of <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html" title="This class represent the 3D position of the device which take the pictures. The role of the class is ...">PointOfView</a>, release all vectors... TODO: define how we should release the vectors... </p>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00098">98</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae5de2e16eac553ea1e1e7501e009bbbd"></a><!-- doxytag: member="OpencvSfM::PointOfView::getIntraParameters" ref="ae5de2e16eac553ea1e1e7501e009bbbd" args="() const " -->
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          <td class="memname">cv::Ptr&lt;<a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a>&gt; OpencvSfM::PointOfView::getIntraParameters </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>use this function to get acces to the camera parameters </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>camera matrix </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00080">80</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

<p>Referenced by <a class="el" href="_visualizer_8cpp_source.html#l00022">OpencvSfM::Visualizer::addCamera()</a>, and <a class="el" href="_euclidean_estimator_8cpp_source.html#l00132">OpencvSfM::EuclideanEstimator::addNewPointOfView()</a>.</p>

</div>
</div>
<a class="anchor" id="a26848a2211358fb86b69fda1376c78c7"></a><!-- doxytag: member="OpencvSfM::PointOfView::getProjectionMatrix" ref="a26848a2211358fb86b69fda1376c78c7" args="() const " -->
<div class="memitem">
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      <table class="memname">
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          <td class="memname">cv::Mat OpencvSfM::PointOfView::getProjectionMatrix </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method return the intra parameters of the camera </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>Matrix K of intra parameters </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00227">227</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

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<a class="anchor" id="af13aa49ebfdb95b056b20825b00d3866"></a><!-- doxytag: member="OpencvSfM::PointOfView::getRotationMatrix" ref="af13aa49ebfdb95b056b20825b00d3866" args="() const " -->
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          <td class="memname">cv::Mat OpencvSfM::PointOfView::getRotationMatrix </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Use this method to get the rotation matrix of this camera </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>rotation matrix of this camera </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00116">116</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

<p>Referenced by <a class="el" href="_visualizer_8cpp_source.html#l00022">OpencvSfM::Visualizer::addCamera()</a>, and <a class="el" href="_euclidean_estimator_8cpp_source.html#l00132">OpencvSfM::EuclideanEstimator::addNewPointOfView()</a>.</p>

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<a class="anchor" id="a79b41aa3dc0ff0f7f5c0d821a8688f1f"></a><!-- doxytag: member="OpencvSfM::PointOfView::getTranslationVector" ref="a79b41aa3dc0ff0f7f5c0d821a8688f1f" args="() const " -->
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          <td class="memname">cv::Mat OpencvSfM::PointOfView::getTranslationVector </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Use this method to get the translation vector of this camera </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>translation vector of this camera </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00135">135</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

<p>Referenced by <a class="el" href="_visualizer_8cpp_source.html#l00022">OpencvSfM::Visualizer::addCamera()</a>, and <a class="el" href="_euclidean_estimator_8cpp_source.html#l00132">OpencvSfM::EuclideanEstimator::addNewPointOfView()</a>.</p>

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<a class="anchor" id="a88697becf69e7291d7c08dc3eb5e891e"></a><!-- doxytag: member="OpencvSfM::PointOfView::pointInFrontOfCamera" ref="a88697becf69e7291d7c08dc3eb5e891e" args="(cv::Vec4d point) const " -->
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          <td class="memname">bool OpencvSfM::PointOfView::pointInFrontOfCamera </td>
          <td>(</td>
          <td class="paramtype">cv::Vec4d&#160;</td>
          <td class="paramname"><em>point</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method test is 3D point is in front of <a class="el" href="class_opencv_sf_m_1_1_camera.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ...">Camera</a> ( can be view with the camera ) </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">point</td><td>3D point in world coordinates ( homogeneous, that is 4 values ). </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if point can be seen with this point of view </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00216">216</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

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<a class="anchor" id="aefde879830522099935e19c92968f3f0"></a><!-- doxytag: member="OpencvSfM::PointOfView::project3DPointIntoImage" ref="aefde879830522099935e19c92968f3f0" args="(cv::Vec3d point) const " -->
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          <td class="memname">cv::Vec2d OpencvSfM::PointOfView::project3DPointIntoImage </td>
          <td>(</td>
          <td class="paramtype">cv::Vec3d&#160;</td>
          <td class="paramname"><em>point</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 3D point from world coordinates to 2D point in pixel image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">point</td><td>3D point in world coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D point in pixel image coordinates. </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00117">117</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

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<a class="anchor" id="aea728bb630de5161ce54f6b5639adbd7"></a><!-- doxytag: member="OpencvSfM::PointOfView::project3DPointsIntoImage" ref="aea728bb630de5161ce54f6b5639adbd7" args="(std::vector&lt; TrackOfPoints &gt; points) const " -->
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          <td class="memname">std::vector&lt; cv::Vec2d &gt; OpencvSfM::PointOfView::project3DPointsIntoImage </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="class_opencv_sf_m_1_1_track_of_points.html">TrackOfPoints</a> &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 3D points from world coordinates to 2D points in pixel image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>3D points in world coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in pixel image coordinates. </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00178">178</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

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<a class="anchor" id="ae83f148293bc3cb6cb3e52a5bf89d6f3"></a><!-- doxytag: member="OpencvSfM::PointOfView::project3DPointsIntoImage" ref="ae83f148293bc3cb6cb3e52a5bf89d6f3" args="(std::vector&lt; cv::Vec3d &gt; points) const " -->
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          <td class="memname">std::vector&lt; cv::Vec2d &gt; OpencvSfM::PointOfView::project3DPointsIntoImage </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec3d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 3D points from world coordinates to 2D points in pixel image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>3D points in world coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in pixel image coordinates. </dd></dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00145">145</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

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<a class="anchor" id="a5f642f693bbdb642baf1bae2ae63c85e"></a><!-- doxytag: member="OpencvSfM::PointOfView::read" ref="a5f642f693bbdb642baf1bae2ae63c85e" args="(const cv::FileNode &amp;node)" -->
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          <td class="memname">cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &gt; OpencvSfM::PointOfView::read </td>
          <td>(</td>
          <td class="paramtype">const cv::FileNode &amp;&#160;</td>
          <td class="paramname"><em>node</em></td><td>)</td>
          <td><code> [static]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Create a new camera's point of view from a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">node</td><td>Previously opened YAML file node </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00233">233</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

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<a class="anchor" id="a175d0cafda2105941a61a69dbd2fb538"></a><!-- doxytag: member="OpencvSfM::PointOfView::rotationAroundX" ref="a175d0cafda2105941a61a69dbd2fb538" args="(double angle)" -->
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          <td class="memname">void OpencvSfM::PointOfView::rotationAroundX </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>angle</em></td><td>)</td>
          <td><code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Rotate this camera around X axis </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">angle</td><td>of rotation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00153">153</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

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<a class="anchor" id="a1575b171547fd61b486552c7160c9ef9"></a><!-- doxytag: member="OpencvSfM::PointOfView::rotationAroundY" ref="a1575b171547fd61b486552c7160c9ef9" args="(double angle)" -->
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          <td class="memname">void OpencvSfM::PointOfView::rotationAroundY </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>angle</em></td><td>)</td>
          <td><code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Rotate this camera around Y axis </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">angle</td><td>of rotation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00163">163</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

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<a class="anchor" id="ab290671dd21f78ae900e8926feb6fe7a"></a><!-- doxytag: member="OpencvSfM::PointOfView::rotationAroundZ" ref="ab290671dd21f78ae900e8926feb6fe7a" args="(double angle)" -->
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          <td class="memname">void OpencvSfM::PointOfView::rotationAroundZ </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>angle</em></td><td>)</td>
          <td><code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Rotate this camera around Z axis </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">angle</td><td>of rotation </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00173">173</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

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<a class="anchor" id="ac1214c5bae587207ed0347b364e4d01e"></a><!-- doxytag: member="OpencvSfM::PointOfView::setRotationMatrix" ref="ac1214c5bae587207ed0347b364e4d01e" args="(cv::Mat newRot)" -->
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          <td class="memname">virtual void OpencvSfM::PointOfView::setRotationMatrix </td>
          <td>(</td>
          <td class="paramtype">cv::Mat&#160;</td>
          <td class="paramname"><em>newRot</em></td><td>)</td>
          <td><code> [inline, virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Use this method to change the rotation matrix of this camera </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">newRot</td><td>new rotation matrix </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00124">124</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

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<a class="anchor" id="aa6402d155df7941da9b500d2f174ed1f"></a><!-- doxytag: member="OpencvSfM::PointOfView::setTranslationVector" ref="aa6402d155df7941da9b500d2f174ed1f" args="(cv::Mat newVect)" -->
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          <td class="memname">virtual void OpencvSfM::PointOfView::setTranslationVector </td>
          <td>(</td>
          <td class="paramtype">cv::Mat&#160;</td>
          <td class="paramname"><em>newVect</em></td><td>)</td>
          <td><code> [inline, virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Use this method to change the translation vector of this camera </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">newVect</td><td>new translation vector </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8h_source.html#l00143">143</a> of file <a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a>.</p>

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<a class="anchor" id="ab1b105f23162533972b1a88e3b8b0982"></a><!-- doxytag: member="OpencvSfM::PointOfView::write" ref="ab1b105f23162533972b1a88e3b8b0982" args="(cv::FileStorage &amp;fs, const PointOfView &amp;points)" -->
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        <tr>
          <td class="memname">void OpencvSfM::PointOfView::write </td>
          <td>(</td>
          <td class="paramtype">cv::FileStorage &amp;&#160;</td>
          <td class="paramname"><em>fs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &amp;&#160;</td>
          <td class="paramname"><em>points</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td><code> [static]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Save the camera's point of view into a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">fs</td><td>Previously opened YAML file node </td></tr>
    <tr><td class="paramname">points</td><td>sequence to save... </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_point_of_view_8cpp_source.html#l00261">261</a> of file <a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a>.</p>

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</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_point_of_view_8h_source.html">PointOfView.h</a></li>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_point_of_view_8cpp_source.html">PointOfView.cpp</a></li>
</ul>
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